| { |
| "task_name": "chopping wood", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 10574, |
| "valid_duration": [ |
| 0, |
| 10574 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_177" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 648 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_177", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_177" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 648, |
| 1362 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "axe_173" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1392, |
| 1872 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1872, |
| 2578 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2578, |
| 2778 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_177", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_177" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2778, |
| 3003 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_177" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3003, |
| 3230 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 102 |
| ], |
| "skill_description": [ |
| "sweep off" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ], |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3230, |
| 3428 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_174" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3428, |
| 3979 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_174", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_174" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3980, |
| 4592 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4593, |
| 5030 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_174", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_174" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5030, |
| 5383 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_174" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5383, |
| 5698 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 102 |
| ], |
| "skill_description": [ |
| "sweep off" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ], |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5698, |
| 5952 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_176" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5952, |
| 6300 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_176", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_176" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6300, |
| 6732 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6732, |
| 6945 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_176", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_176" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6945, |
| 7330 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_176" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7331, |
| 7583 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 102 |
| ], |
| "skill_description": [ |
| "sweep off" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ], |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7584, |
| 7782 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_175" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7783, |
| 8555 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_175", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_175" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8556, |
| 9003 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9003, |
| 9471 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_175", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_175" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9471, |
| 9816 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_175" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9817, |
| 10135 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 102 |
| ], |
| "skill_description": [ |
| "sweep off" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ], |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10135, |
| 10273 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10273, |
| 10574 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_177" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 3428 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_174" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3428, |
| 5952 |
| ], |
| "skill_idxes": [ |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_176" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5952, |
| 7782 |
| ], |
| "skill_idxes": [ |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_175" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7783, |
| 10273 |
| ], |
| "skill_idxes": [ |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10273, |
| 10574 |
| ], |
| "skill_idxes": [ |
| 26 |
| ] |
| } |
| ] |
| } |
